27 May

RoCo Actuation Info Extraction

Chang Liu computational design

Trying to get actuation location from RoCo.

Method 1: Write a new code for it

Steps:

  1. Get motor information from .yaml file (e.g. "fs90r")
  2. Refer to dimensions.py for motor geometry information (e.g. "hornlength" etc)
  3. Refers to system input for "length", "width" and "height" for "bodylength" etc
  4. Plug in numbers to get wheel locations (same as anchor point)

Pros:

  • Straight forward

Cons:

  • May not be applied to other type of robots

Method 2: Find it out in existing RoCo code

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